mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-08-19 15:13:42 +08:00
Drew Hintz
9dae0bfac4
* tabs to spaces python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces * use the new except syntax python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax * make relative imports absolute python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports * Queue renamed to queue in python 3 Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules * replace dict.has_key() with in python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key * make dict views compatible with python 3 python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with [] Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version. * Explicitly use truncating division python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division python 3 treats / as float division. When we want the result to be an integer, use // * replace map() with list comprehension where a list result is needed. In python 3, map() returns an iterator. python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter * replace filter() with list comprehension In python 3, filter() returns an interatoooooooooooor. python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter * wrap zip() in list() where we need the result to be a list python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip * clean out some lint Removes these pylint warnings: ************* Module selfdrive.car.chrysler.chryslercan W: 15, 0: Unnecessary semicolon (unnecessary-semicolon) W: 16, 0: Unnecessary semicolon (unnecessary-semicolon) W: 25, 0: Unnecessary semicolon (unnecessary-semicolon) ************* Module common.dbc W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string) ************* Module selfdrive.car.gm.interface R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type) R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type) ************* Module selfdrive.updated R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)
56 lines
1.7 KiB
Python
Executable File
56 lines
1.7 KiB
Python
Executable File
#!/usr/bin/env python
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import os
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from selfdrive.locationd.test import ublox
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from common import realtime
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from selfdrive.locationd.test.ubloxd import gen_raw, gen_solution
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import zmq
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import selfdrive.messaging as messaging
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from selfdrive.services import service_list
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unlogger = os.getenv("UNLOGGER") is not None # debug prints
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def main(gctx=None):
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context = zmq.Context()
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poller = zmq.Poller()
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context = zmq.Context()
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gpsLocationExternal = messaging.pub_sock(context, service_list['gpsLocationExternal'].port)
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ubloxGnss = messaging.pub_sock(context, service_list['ubloxGnss'].port)
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# ubloxRaw = messaging.sub_sock(context, service_list['ubloxRaw'].port, poller)
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# buffer with all the messages that still need to be input into the kalman
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while 1:
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polld = poller.poll(timeout=1000)
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for sock, mode in polld:
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if mode != zmq.POLLIN:
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continue
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logs = messaging.drain_sock(sock)
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for log in logs:
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buff = log.ubloxRaw
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time = log.logMonoTime
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msg = ublox.UBloxMessage()
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msg.add(buff)
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if msg.valid():
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if msg.name() == 'NAV_PVT':
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sol = gen_solution(msg)
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if unlogger:
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sol.logMonoTime = time
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else:
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sol.logMonoTime = int(realtime.sec_since_boot() * 1e9)
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gpsLocationExternal.send(sol.to_bytes())
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elif msg.name() == 'RXM_RAW':
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raw = gen_raw(msg)
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if unlogger:
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raw.logMonoTime = time
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else:
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raw.logMonoTime = int(realtime.sec_since_boot() * 1e9)
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ubloxGnss.send(raw.to_bytes())
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else:
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print "INVALID MESSAGE"
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if __name__ == "__main__":
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main()
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